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Robot wrist and using method thereof

A robot and wrist technology, applied in the field of robot wrists, can solve the problems of low pitch freedom and achieve the effects of improving stability, improving the accuracy of rotation transmission, and simplifying the transmission structure

Pending Publication Date: 2020-07-28
重庆广数机器人有限公司
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  • Description
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AI Technical Summary

Problems solved by technology

[0007] (1) The motion range of pitch angle β is only: -90°≤β≤+90°, and the degree of freedom of pitching is low;

Method used

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  • Robot wrist and using method thereof
  • Robot wrist and using method thereof
  • Robot wrist and using method thereof

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Embodiment Construction

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0033] The embodiment is basically as attached Figure 2-4 Shown: a robot wrist, including a forearm base 201 , a wrist base 301 , a rotation drive mechanism 5 , a pitch drive mechanism, a timing belt adjustment mechanism 9 and an auxiliary support mechanism 10 .

[0034] A mounting opening 202 with a U-shaped longitudinal section is opened in the forearm base 201 . The wrist base 301 is rotatably connected to the installation port 202 of the forearm base 201 .

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Abstract

The invention belongs to the technical field of industrial robots, and particularly discloses a robot wrist. The robot wrist comprises a forearm base body, a wrist base body, an autorotation driving mechanism, a pitching driving mechanism and an auxiliary supporting mechanism, wherein the auxiliary supporting mechanism is used for supporting the pitching motion of the wrist base body in an auxiliary mode; a cavity is formed in the wrist base body, the autorotation driving mechanism is arranged in the cavity, and the autorotation driving mechanism comprises an autorotation driving motor and anautorotation speed reducer; and the pitching driving mechanism comprises a pitching speed reducer. The invention further discloses a using method of the robot wrist. The using method comprises an autorotation control step and a pitching control step. The invention belongs to a motor front-mounted type, and has high pitching freedom degree and high autorotation transmission precision.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a robot wrist and a using method thereof. Background technique [0002] The modern robot wrist is also called the robot posture mechanism, such as figure 1 As shown, the posture of the wrist base can be determined by three orientations, which are roll angle α, pitch angle β and rotation angle γ. The upper arm 1, the lower arm 2 and the wrist 3 are connected sequentially, and the graphic posture of the wrist 3 can be regarded as being in X 3 Direction of wrist 3 first around Z 3 in plane X 3 o 3 Y 3 Rotate within angle α, then in Y 3 with Z 3 Composed of vertical plane Y 3 o 3 Z 3 The angle β is rotated upwards to obtain, if 0°≤α≤360°, 0°≤β≤360°, 0°≤γ≤360°, the wrist 3 is fully flexible. [0003] Modern robot wrists are divided into three-degree-of-freedom wrists and two-degree-of-freedom wrists in terms of structure. Among them, two-degree-of-free...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 陈放江文明汤世雄张有博史晨晖朱发青刘治雄薛准周传德吕中亮
Owner 重庆广数机器人有限公司
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